To provide a vessel, a vessel control device, and a method and a program for vessel control capable of maintaining the vessel in a state where stern or bow is abutted to a vessel abutting object without any need for mooring or maneuvering the vessel.SOLUTION: A vessel control device executes control to have bow or stern face a vessel abutting object according to input operation received by an operation unit before start of a vessel abutting mode, executes control to have the vessel move very slowly toward the vessel abutting object, executes control to continue generation of vessel propulsion force in the direction to have the stern or the bow in the direction abutting the vessel abutting object in the state of having the stern or the bow abutted to the vessel abutting object without having the operation unit receive an inputting operation after the start of the vessel abutting mode, and at the same time executes azimuth retaining control of actual bow direction of the vessel to be maintained to target bow azimuth during the vessel abutting mode.SELECTED DRAWING: Figure 1
【課題】船舶を係留したり操船したりする必要なく、船尾または船首が船舶押し当て対象に押し当てられた状態に船舶を維持することができる船舶、船舶制御装置、船舶制御方法およびプログラムを提供する。【解決手段】船舶制御装置は、船舶押し当てモードになる前に、操作部が受け付けた入力操作に応じて、船尾または船首を船舶押し当て対象に向ける制御を実行すると共に、船舶を船舶押し当て対象に向かって微速移動させる制御を実行し、船舶押し当てモードになった後に、操作部が入力操作を受け付ける必要なく、船尾または船首を船舶押し当て対象に押し当てた状態で、船尾または船首を船舶押し当て対象に押し当てる向きの船舶の推力を発生し続ける制御を実行すると共に、船舶の実船首方位を船舶押し当てモード中の目標船首方位に維持する方位保持制御を実行する。【選択図】図1
VESSEL, VESSEL CONTROL DEVICE, AND METHOD AND PROGRAM FOR VESSEL CONTROL
船舶、船舶制御装置、船舶制御方法およびプログラム
2023-09-21
Patent
Electronic Resource
Japanese
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